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Copter: implement set_desired_speed

This commit is contained in:
Yuri 2022-06-30 13:43:32 -05:00 committed by Randy Mackay
parent bc8bdc18c9
commit a97a17cce4
2 changed files with 13 additions and 0 deletions
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12
ArduCopter/Copter.cpp
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@ -392,6 +392,18 @@ bool Copter::set_circle_rate(float rate_dps)
return true;
}
// set desired speed (m/s). Used for scripting.
bool Copter::set_desired_speed(float speed)
{
// exit if vehicle is not in auto mode
if (!flightmode->is_autopilot()) {
return false;
}
wp_nav->set_speed_xy(speed * 100.0f);
return true;
}
// returns true if mode supports NAV_SCRIPT_TIME mission commands
bool Copter::nav_scripting_enable(uint8_t mode)
{

1
ArduCopter/Copter.h
View File

@ -652,6 +652,7 @@ private:
bool set_target_angle_and_climbrate(float roll_deg, float pitch_deg, float yaw_deg, float climb_rate_ms, bool use_yaw_rate, float yaw_rate_degs) override;
bool get_circle_radius(float &radius_m) override;
bool set_circle_rate(float rate_dps) override;
bool set_desired_speed(float speed) override;
bool nav_scripting_enable(uint8_t mode) override;
bool nav_script_time(uint16_t &id, uint8_t &cmd, float &arg1, float &arg2) override;
void nav_script_time_done(uint16_t id) override;